/*

 MinIMU-9-Arduino-AHRS
 Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)

 Copyright (c) 2011 Pololu Corporation.
 http://www.pololu.com/

 MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
 http://code.google.com/p/sf9domahrs/

 sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
 Julio and Doug Weibel:
 http://code.google.com/p/ardu-imu/

 MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
 under the terms of the GNU Lesser General Public License as published by the
 Free Software Foundation, either version 3 of the License, or (at your option)
 any later version.

 MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
 FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
 more details.

 You should have received a copy of the GNU Lesser General Public License along
 with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.

 */
//#include <pololu/orangutan.h>

#include "MinIMU9AHRS.h"

/**************************************************/
//Multiply two 3x3 matrixs. This function developed by Jordi can be easily adapted to multiple n*n matrix's. (Pero me da flojera!). 
void Matrix_Multiply(float a[3][3], float b[3][3], float mat[3][3])
{
	float op[3];
	int x;
	for (x = 0; x < 3; x++)
	{
		int y;
		for (y = 0; y < 3; y++)
		{
			int w;
			for (w = 0; w < 3; w++)
			{
				op[w] = a[x][w] * b[w][y];
			}
			mat[x][y] = 0;
			mat[x][y] = op[0] + op[1] + op[2];

			//      float test=mat[x][y];
		}
	}
}

